Vehicle-to-pedestrian communication systems

• US 9,928,734 B2
• Filed: 08/29/2016
• Issued: 03/27/2018
• Est. Priority Date: 08/02/2016
• Status: Active Grant

• Current Assignee: NIO Technology Company Limited (Shanghai Anbin Technology Co., Ltd.)
• Original Assignee: Nio Usa Inc.
• Inventors: Newman, Austin L.
• Primary Examiner(s): POPE, DARYL C
• Application Number:
  US15/250,356
• Publication Number:
  US 20180040240A1
• Time in Patent Office: 575 Days
• Field of Search: 340435, 340436, 340901, 340903, 340907, 340942, 701 25, 701 36, 701 45, 701 70, 701 96
• CPC Class Codes: B60Q 5/005 automatically actuated
• CPC Class Codes: G08G 1/005 including pedestrian guidance indicator
• CPC Class Codes: G08G 1/015 with provision for distinguishing between two or more types of vehicles, e.g. between motor-cars and cycles
• CPC Class Codes: G08G 1/096716 where the received information does not generate an automatic action on the vehicle control
• CPC Class Codes: G08G 1/096741 where the source of the transmitted information selects which information to transmit to each vehicle
• CPC Class Codes: G08G 1/096775 where the origin of the information is a central station
• CPC Class Codes: G08G 1/164 Centralised systems, e.g. external to vehicles
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

Vehicle-to-pedestrian information systems that use directional sound transmission on autonomous vehicles are disclosed. A cloud computing system manages messages for transmission to pedestrians via autonomous vehicles having directional speakers. The cloud computing system identifies pedestrians and identifies messages for the pedestrians. Pedestrians may be known and authenticated to the cloud computing system or may be unknown. The cloud computing system maintains profiles for known pedestrians and transmits messages to vehicles based on the profiles. The cloud computing system keeps track of the location of vehicles and causes the vehicles to use directional speakers to transmit messages to the pedestrians based on the relative positions of the vehicles and the pedestrians.

Claims

1. A vehicle-to-pedestrian information system comprising:

a cloud computing system configured to communicate with a vehicle configured for autonomous piloting, the vehicle including a directional speaker,

wherein the cloud computing system is configured to;

identify a message for a pedestrian based on a location of the pedestrian;

transmit the message to the vehicle; and

cause the vehicle to play the message for the pedestrian via the directional speaker.

2. The vehicle-to-pedestrian information system of claim 1, wherein the cloud computing system selects the vehicle to transmit the message to the pedestrian based on relative locations of the pedestrian and vehicle, wherein the vehicle, during play of the message, performs at least some driving functions autonomously, the at least some functions comprising steering and braking, wherein the directional speaker comprises an array of a plurality of ultrasonic transducers that generate first and second modulated ultrasonic waves, the first and second modulated waves being inaudible to the pedestrian, wherein the first and second ultrasonic waves are directed towards the pedestrian but not towards a second pedestrian, and wherein, when the first and second ultrasonic waves contact the pedestrian, the first and second ultrasonic waves mix together, via a parametric interaction, to produce a sound wave for the message that is audible to the pedestrian, wherein the second pedestrian is located outside the paths of travel of the first and second ultrasonic waves and is unable to hear the message, and wherein the cloud computing system is further configured to:

authenticate the pedestrian by communicating with a personal device associated with the pedestrian.

3. The vehicle-to-pedestrian information system of claim 2, wherein the cloud computing system is further configured to:

identify a user profile based on the authentication with the pedestrian,

wherein the message is identified based on the user profile, the profile storing data comprising user preferences for the pedestrian indicating message types and/or contents to be provided to the pedestrian.

4. The vehicle-to-pedestrian information system of claim 2, wherein the cloud computing system selects the vehicle to transmit the message to the pedestrian based on relative locations of the pedestrian and vehicle, wherein the vehicle, during play of the message, performs at least some driving functions autonomously, the at least some functions comprising steering and braking, wherein the directional speaker comprises an array of a plurality of ultrasonic transducers that generate first and second modulated ultrasonic waves, the first and second modulated waves being inaudible to the pedestrian, wherein the first and second ultrasonic waves are directed towards the pedestrian but not towards a second pedestrian, and wherein, when the first and second ultrasonic waves contact the pedestrian, the first and second ultrasonic waves mix together, via a parametric interaction, to produce a sound wave for the message that is audible to the pedestrian, wherein the second pedestrian is located outside the paths of travel of the first and second ultrasonic waves and is unable to hear the message, and wherein the cloud computing system is further configured to:

identify the location of the pedestrian based on location data reported by the personal device associated with the pedestrian.

5. The vehicle-to-pedestrian information system of claim 1, wherein:

the message comprises a first portion of a composite message, and

the cloud computing system is further configured to;

transmit a second portion of the composite message to a different second vehicle for playback to the pedestrian, wherein the cloud computing system selects the vehicle and the second vehicle from among multiple vehicles proximate to the pedestrian based on the different driving paths of the multiple vehicles.

6. The vehicle-to-pedestrian information system of claim 5, wherein:

the cloud computing system is configured to instruct the first vehicle to play the first portion of the composite message and the second vehicle to play the second portion of the composite message in a manner that minimizes Doppler shift observed by the pedestrian.

7. The vehicle-to-pedestrian information system of claim 1, wherein the cloud computing system selects the vehicle to transmit the message to the pedestrian based on relative locations of the pedestrian and vehicle, wherein the vehicle, during play of the message, performs at least some driving functions autonomously, the at least some functions comprising steering and braking, wherein the directional speaker comprises an array of a plurality of ultrasonic transducers that generate first and second modulated ultrasonic waves, the first and second modulated waves being inaudible to the pedestrian, wherein the first and second ultrasonic waves are directed towards the pedestrian but not towards a second pedestrian, and wherein, when the first and second ultrasonic waves contact the pedestrian, the first and second ultrasonic waves mix together, via a parametric interaction, to produce a sound wave for the message that is audible to the pedestrian, wherein the second pedestrian is located outside the paths of travel of the first and second ultrasonic waves and is unable to hear the message, and wherein:

the message comprises a safety message.

8. The vehicle-to-pedestrian information system of claim 1, wherein the vehicle is configured to:

display a first visual indicator communicating that the vehicle is operating autonomously when the vehicle is operating autonomously, the vehicle operating autonomously when the driver does not have control of steering of the vehicle; and

display a different second visual indicator communicating that the vehicle is operating non-autonomously when the vehicle is operating non-autonomously, the vehicle operating non-autonomously when the driver has control of steering of the vehicle, wherein the first and second visual indicators are positioned on the vehicle to be visible to the pedestrian.

9. An autonomous vehicle capable of communicating information to a pedestrian, the autonomous vehicle comprising:

a steering system and a speed control system;

a directional speaker; and

an on-board computer configured to;

autonomously control the steering system and the speed control system based on environmental conditions and navigation conditions;

receive a message for a pedestrian from a cloud computing system;

determine a location of the pedestrian; and

cause the directional speaker to play the message for the pedestrian based on the location of the pedestrian.

10. The autonomous vehicle of claim 9, wherein the cloud computing system selects the vehicle to transmit the message to the pedestrian based on relative locations of the pedestrian and vehicle, wherein the vehicle, during play of the message, performs at least some driving functions autonomously, the at least some functions comprising steering and braking, wherein the directional speaker comprises an array of a plurality of ultrasonic transducers that generate first and second modulated ultrasonic waves, the first and second modulated waves being inaudible to the pedestrian, wherein the first and second ultrasonic waves are directed towards the pedestrian but not towards a second pedestrian, and wherein, when the first and second ultrasonic waves contact the pedestrian, the first and second ultrasonic waves mix together, via a parametric interaction, to produce a sound wave for the message that is audible to the pedestrian, wherein the second pedestrian is located outside the paths of travel of the first and second ultrasonic waves and is unable to hear the message, and wherein:

the pedestrian is authenticated to the cloud computing system via a personal device associated with the pedestrian.

11. The autonomous vehicle of claim 10, wherein:

the message is based on a user profile that is associated with the authenticated pedestrian, the profile storing data comprising user preferences for the pedestrian indicating message types and/or contents to be provided to the pedestrian.

12. The autonomous vehicle of claim 10, wherein the cloud computing system selects the vehicle to transmit the message to the pedestrian based on relative locations of the pedestrian and vehicle, wherein the vehicle, during play of the message, performs at least some driving functions autonomously, the at least some functions comprising steering and braking, wherein the directional speaker comprises an array of a plurality of ultrasonic transducers that generate first and second modulated ultrasonic waves, the first and second modulated waves being inaudible to the pedestrian, wherein the first and second ultrasonic waves are directed towards the pedestrian but not towards a second pedestrian, and wherein, when the first and second ultrasonic waves contact the pedestrian, the first and second ultrasonic waves mix together, via a parametric interaction, to produce a sound wave for the message that is audible to the pedestrian, wherein the second pedestrian is located outside the paths of travel of the first and second ultrasonic waves and is unable to hear the message, and wherein determining the location comprises:

receiving the location from the cloud computing system, which previously received the location from the personal device associated with the pedestrian.

13. The autonomous vehicle of claim 9, wherein:

the message comprises a first portion of a composite message; and

the composite message also includes a second portion that is sent to a different autonomous vehicle for playback to the pedestrian, wherein the cloud computing system selects the vehicle and the second vehicle from among multiple vehicles proximate to the pedestrian based on the different driving paths of the multiple vehicles.

14. The autonomous vehicle of claim 9, wherein the cloud computing system selects the vehicle to transmit the message to the pedestrian based on relative locations of the pedestrian and vehicle, wherein the vehicle, during play of the message, performs at least some driving functions autonomously, the at least some functions comprising steering and braking, wherein the directional speaker comprises an array of a plurality of ultrasonic transducers that generate first and second modulated ultrasonic waves, the first and second modulated waves being inaudible to the pedestrian, wherein the first and second ultrasonic waves are directed towards the pedestrian but not towards a second pedestrian, and wherein, when the first and second ultrasonic waves contact the pedestrian, the first and second ultrasonic waves mix together, via a parametric interaction, to produce a sound wave for the message that is audible to the pedestrian, wherein the second pedestrian is located outside the paths of travel of the first and second ultrasonic waves and is unable to hear the message, and wherein:

the message comprises a safety message.

15. The autonomous vehicle of claim 9, further comprising:

a visual indicator display, wherein the on-board computer is configured to;

display a first visual indicator on the visual indicator display communicating that the vehicle is operating autonomously when the vehicle is operating autonomously, the vehicle operating autonomously when the driver does not have control of steering of the vehicle; and

display a different second visual indicator on the visual indicator display communicating that the vehicle is operating non-autonomously when the vehicle is operating non-autonomously, the vehicle operating non-autonomously when the driver has control of steering of the vehicle, wherein the first and second visual indicators are positioned on the vehicle to be visible to the pedestrian.

16. A method for facilitating vehicle-to-pedestrian communication, the method comprising:

identifying a message for a pedestrian based on a location of the pedestrian;

transmitting the message to an autonomous vehicle that includes a directional speaker; and

causing the vehicle to play the message for the pedestrian via the directional speaker.

17. The method of claim 16, wherein the cloud computing system selects the vehicle to transmit the message to the pedestrian based on relative locations of the pedestrian and vehicle, wherein the vehicle, during play of the message, performs at least some driving functions autonomously, the at least some functions comprising steering and braking, wherein the directional speaker comprises an array of a plurality of ultrasonic transducers that generate first and second modulated ultrasonic waves, the first and second modulated waves being inaudible to the pedestrian, wherein the first and second ultrasonic waves are directed towards the pedestrian but not towards a second pedestrian, and wherein, when the first and second ultrasonic waves contact the pedestrian, the first and second ultrasonic waves mix together, via a parametric interaction, to produce a sound wave for the message that is audible to the pedestrian, wherein the second pedestrian is located outside the paths of travel of the first and second ultrasonic waves and is unable to hear the message, and further comprising:

authenticating the pedestrian by communicating with a personal device associated with the pedestrian.

18. The method of claim 17, further comprising:

identifying a user profile based on the authentication with the pedestrian, wherein the message is identified based on the user profile, the profile storing data comprising user preferences for the pedestrian indicating message types and/or contents to be provided to the pedestrian.

19. The method of claim 17, wherein the cloud computing system selects the vehicle to transmit the message to the pedestrian based on relative locations of the pedestrian and vehicle, wherein the vehicle, during play of the message, performs at least some driving functions autonomously, the at least some functions comprising steering and braking, wherein the directional speaker comprises an array of a plurality of ultrasonic transducers that generate first and second modulated ultrasonic waves, the first and second modulated waves being inaudible to the pedestrian, wherein the first and second ultrasonic waves are directed towards the pedestrian but not towards a second pedestrian, and wherein, when the first and second ultrasonic waves contact the pedestrian, the first and second ultrasonic waves mix together, via a parametric interaction, to produce a sound wave for the message that is audible to the pedestrian, wherein the second pedestrian is located outside the paths of travel of the first and second ultrasonic waves and is unable to hear the message, and further comprising:

identifying the location of the pedestrian based on location data reported by the personal device associated with the pedestrian.

20. The method of claim 16, wherein:

the message comprises a first portion of a composite message, and the method further comprises;

transmitting a second portion of the composite message to a different second vehicle for playback to the pedestrian, wherein the cloud computing system selects the vehicle and the second vehicle from among multiple vehicles proximate to the pedestrian based on the different driving paths of the multiple vehicles.